Our drone is being used for a competition and has a claw that doesn’t have a major room for error so sliding has to be minimized. The sliding is no more then the drone’s length so 385 mm. When i turned up the loiter braking accel to 2500 cm/s^2 from 1500 cm/s^2 the drone doesn’t slide as much. I am worried such high loiter braking accel from about 10-15 mph will damage the arms being our national competition. Will autotune lead to great pids to stop this as we have auto tuned the drone about 1 month ago.
You’ll need to share a .bin log file of a flight with the drone. Without that we can’t really help.
I got you with it in a bit
was too large so I just made it a cloud link
Old firmware. Update to the latest stable.
Vibrations are higher than ideal.
There is a lot of noise in the rates, so I suspect the notch filter isn’t as well set up as it could be.
MOT_SPIN_MIN and MOT_SPIN_ARM aren’t set correctly. Both are too high, and they are set too closely together. This is leading to motor saturation at min throttle and instability.
PSC_ACCZ_P and PSC_ACCZ_I aren’t set correctly.
PSC_ACCZ_P, 0.23
PSC_ACCZ_I, 0.46
The ATC tune values look like they’ve been done rather poorly. Some are set, other’s aren’t.
Overall I would reset all the parameters and re-do the tuning following How to methodically tune any ArduCopter | MethodicConfigurator Don’t just re-run autotune. The foundation isn’t set up well enough to gain anything.
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our mot_spin_arm value has been set to that since the motors are massive and need that rate to spin
What do you mean by the notch filter isn’t set up as well as it could any more specific feed back on that and how to set up the ATC tune values
The values are not correct. The motors are hitting saturation at low throttle and causing instability.
There is noise in the rate outputs. A properly set notch filter should address this.
Follow the link I provided and will give you instructions on how to set up the drone. There is such a mix match of tuning values here I really think it’s best you start from the begining and do it properly.
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There really is too many things wrong here to do anything but start over as @Allister suggests.